Who could read about the heroic deeds of brave people and not feel respect and admiration?
Literal
Brave people [possessive-の] heroic deeds [object-を] read-and, respect and admiration [possessive-の] feelings [object-を] not-hold person [subject-が] could-exist [question-か].
A rhetorical question: あろうか uses the formal conjectural of ある + か to ask 'could there exist such a person?' — expecting 'no.' 抱く (いだく, 'to embrace, hold') is used for emotions in literary style. 英雄的行為 is a heavyweight kango compound.